EP3919234B1 - Vorrichtung zum bewegen von objekten - Google Patents

Vorrichtung zum bewegen von objekten Download PDF

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Publication number
EP3919234B1
EP3919234B1 EP21185970.7A EP21185970A EP3919234B1 EP 3919234 B1 EP3919234 B1 EP 3919234B1 EP 21185970 A EP21185970 A EP 21185970A EP 3919234 B1 EP3919234 B1 EP 3919234B1
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EP
European Patent Office
Prior art keywords
bent
gripping arms
arms
gripping
pot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP21185970.7A
Other languages
English (en)
French (fr)
Other versions
EP3919234A1 (de
Inventor
Adrien JAUFFRET
Alexandre OECONOMOS
Nicolas SCHOEMAEKER
Pierre DELARBOULAS
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Instar Robotics
Original Assignee
Instar Robotics
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Instar Robotics filed Critical Instar Robotics
Publication of EP3919234A1 publication Critical patent/EP3919234A1/de
Application granted granted Critical
Publication of EP3919234B1 publication Critical patent/EP3919234B1/de
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B25J9/1035—Pinion and fixed rack drivers, e.g. for rotating an upper arm support on the robot base
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms

Definitions

  • the invention relates to the movement of objects and in particular to devices such as robots which are designed to move objects from a first location to a second location.
  • It relates in particular to devices which ensure the movement of pots containing plants, for example from a sheltered place to an outdoor place, to ensure good development of the plant or to, for example, make room for other pots with new plants.
  • Such technology is usually used in nurseries, so that the man is replaced for the realization of arduous tasks according to which the man must bend down and carry pots.
  • the gripping system comprises two arms pivotally mounted (movable) between a close position to grasp the object laterally and a separated position to release said object.
  • the gripping system also comprises a mobile element carrying the two arms which makes it possible to move the arms in front of the device and to bring them back to the device, in position above the magazine. This movable element of the gripping system thus ensures the displacement of the pot from its first position on the ground to the store of the device and from the store of the device to a second position on the ground.
  • the arms of the gripping system have dimensions and a maximum spacing adapted to a predetermined pot size. To change the size of pots, it is necessary to manually adjust the spacing of the arms. Also, the store only allows one jar to be carried at a time.
  • the invention aims to provide an alternative means of fixing the pots.
  • the device is a type of robot which comprises two symmetrical gripping arms making it possible to grasp a pot on the ground in front of the robot independently of its dimensions since the spacing of the arms adapts to the size of the pot thanks to the movement of the arms. on the main shaft (the pots can have a capacity of 2 L to 10 L).
  • Said magazine of the device comprises a round plate, rotatably mounted around its axis, said plate comprising at least two radial notches. It is thus possible to store several pots on the device, the pots being kept straight, suspended by their flange.
  • the tightening function is not separated from the pot calibration function: to do this, the device could comprise a rotary telemetry sensor of the LIDAR (Light Detection And Ranging) to detect and recognize the pot to be grabbed (measurement of the shape, diameter, distance, angle of positioning of the pot vis-à-vis the device).
  • LIDAR Light Detection And Ranging
  • This measurement coupled with a calibration of the arms, makes it possible to automatically adapt the tightening to any size pot from 2 L to 10 L.
  • the system will spread the arms more or less, and in a autonomous, depending on the diameter of the pot detected by the LIDAR.
  • This system also makes it possible to detect a pot that does not correspond to the pots to be moved for the task in progress.
  • the device according to the invention makes it possible to lift the pot to a height of approximately 50 cm from the ground without modifying its orientation, in order to store it in the magazine of the device located behind the gripping system.
  • the solution of the invention is less expensive than the solutions on the current market. It is also easy to implement: in fact, the solution minimizes the number of effectors necessary for the operation of the device.
  • the functions of clamping, lifting, adapting to the size of the pot and maintaining the orientation of the pot during loading are all carried out by implementing only two motors.
  • a device according to the invention is illustrated in figure 1 : it's a robot that can move flowerpots from one place to another to replace the work of a man (who would have to bend down and carry the flowerpot to move it).
  • the device comprises a frame 1 movably mounted on wheels 2.
  • the device comprises four wheels 2: two drive wheels at the front and two free wheels at the rear.
  • the 2 wheels are pneumatic and supported by a metal frame.
  • the device according to the invention further comprises a control module allowing it to move alone.
  • the control module of the device will not be described in this document, since those skilled in the art know and know how to implement such control modules.
  • These mods are protected by a protective casing 6 which completely closes the space defined by the metal frame of the device.
  • the two front drive wheels 2 are located on either side of the frame 1 while the free rear wheels 2 are provided under the frame 1 in the rear part.
  • the frame 1 and the protective casing form, in the front part of the device between the two front wheels 2, a hollow space 7.
  • the device also comprises an object detection module 3 which is provided in the lower part of the recessed space 7: the module 3 is positioned in the front part of the device, in front of the chassis 1. It comprises a sensor of the " LIDAR” (Light Detection and Ranging) which detects and recognizes a pot to be seized: this type of sensor makes it possible to measure the pot, determine its shape, the distance at which it is from the device and the angle depending on the pot is presented in relation to the device.
  • LIDAR Light Detection and Ranging
  • the LIDAR sensor thus makes it possible to detect whether or not the pot which is near the device conforms to the pots that the device must pick up and move from one place to another: if the pot does not correspond to the pot indicated to the order, the device will not take it into consideration and will look for a pot nearby to analyze it and possibly charge it to move it.
  • the device according to the invention must be informed beforehand about certain characteristics of the pots which it is desired to move.
  • This information can be communicated to the control module of the device via any known means: via an application which communicates with the device, directly on the device (for example by using a man/machine interface), etc.
  • the device also comprises gripping arms 4 for gripping a flowerpot.
  • the gripping arms 4 are provided in the front part of the device, in the vicinity of the module 3 in the recessed space 7.
  • the device also comprises a magazine 5, on which the flower pot gripped by the arms 4 is stored to be moved from one place to another.
  • the store 5 is positioned above the protective casing 6, behind the recessed space 7 accommodating the gripping arms 4.
  • the picture 2 illustrates the recessed part 7 located in front of the device: it comprises two side walls 70 and 71 and a bottom wall 72 having an upper inclined face 73 which is extended downwards by a lower vertical wall 74.
  • the arms 4 are mounted to move along a main shaft 8, substantially horizontal, between the close position and the separated position mentioned above.
  • the shaft 8 is mounted between the two side walls 70 and 71 and it is mounted so as to be able to rotate around its axis.
  • the translational movement of the arms takes place thanks to the presence of sleeves 9 fixed to the arms 4 and fitted around the shaft 8: the sleeves can slide along the shaft 8 in one direction or another in a parallel direction. to the axis of the shaft 8.
  • the sleeve 9 and the shaft 8 are made integral in rotation: this is possible if the sleeve and the shaft have complementary shapes forming radial stops.
  • the shaft 8 is a splined shaft and the sleeves 9 each have an internal shape complementary to the splined shape of the shaft 8: thus, the splines of the shaft 8 serve as rails guide to ensure the translation of the arms on the shaft 8, on the one hand.
  • the internal shape of the sleeves associated to the shape of the splines ensure rotation of the sleeves around the axis of the shaft 8 when the shaft 8 is rotated.
  • the shaft 8 is rotated by means of a lifting motor unit 85 which comprises a motor 80, two sprockets 81 and a roller chain 82, the latter ensuring the transmission of the torque from the lifting motor to the fluted shaft.
  • a lifting motor unit 85 which comprises a motor 80, two sprockets 81 and a roller chain 82, the latter ensuring the transmission of the torque from the lifting motor to the fluted shaft.
  • the lifting block 85 is also shown in figure 2 where it appears placed partially behind the side wall 71 and partially at the rear of the front wall of the housing 6 of the device.
  • the arms 4 can move away from each other or come closer (and vice versa) and pivot around the axis of the shaft 8 between a high position and a low position (and vice versa) .
  • the arms can thus grasp and lift pots of varying sizes because the spacing of the arms adapts to the diameters of the pots.
  • the figure 2 and 4 show that the device further comprises a second tubular shaft 10, not splined, around which are fitted two other smooth sleeves 11, the diameter of which allows them to slide along the second shaft 10.
  • the second tubular shaft 10 is not driven in rotation, but the sleeves 11 can rotate around the second tubular shaft 10.
  • This second tubular shaft 10 ensures good parallelism of the arms 4 which will now be detailed.
  • the arms 4 are made symmetrical and each comprise a pantograph system 40.
  • Each pantograph system comprises two U-shaped parts: a first part having a long central part 41 and two bent ends 42 and 43 and a second identical part having a long central part 44 placed parallel to the long central part 41 of the first piece and two bent ends 45 and 46 which are placed parallel respectively to the bent ends.
  • the two elongated U-shaped pieces are thus oriented so as to substantially form a hexagon.
  • the figures 6 and 7 show more particularly the assembly of the right arm 4.
  • the figure 8 gives mounting details of the left arm, symmetrical to the right arm.
  • the angled end 43 is fixed around the fluted sleeve 9 (see figure 8 ): the bent end 43 of the upper arm is thus pivoted around the axis of the splined shaft 8 when the shaft 8 is rotated.
  • the lower end 45 of the arm which is close to the vertical wall 74 is fixed around the smooth sleeve 11.
  • the sleeves 9 and 11 are also pivotally mounted on an angled plate 12, the usefulness of which will be explained later.
  • the other ends 42 and 46 of the first and second elongated U-shaped parts are themselves pivotally mounted on a plate 13 of substantially triangular shape, carrying a concave gripping element 14 (also called gripping element).
  • This last concave gripping element 14 is the one which has the function of entering (or gripping) the pot.
  • the concave gripping element 14 has a straight central band and two end bands inclined with respect to the straight central part. The ends of the inclined bands are curved.
  • This arrangement allows a movement of the gripping element 14 analogous to that of a Ferris wheel nacelle: in fact, when the elements of the pantograph pivot around the axes of the shafts 8 and 10, the gripping element always remains oriented the same way.
  • the arms can grasp pots and move them without changing their orientation: the pots do not overturn.
  • the figure 6 shows the right arm in a high position and the figure 7 shows the right arm in the down position. It can be seen that the gripping elements 14 can perform a rotation around the shafts 8 and 10 over an angle of 180° while remaining quite straight.
  • the system 20 with pinion 21 and double rack is Hidden by a protective wall which is fixed on the wall 74.
  • the two racks 22 mounted one above the pinion 21 and the other below the pinion 21 move horizontally and are actuated simultaneously.
  • the pinion 21 is fixed on the output shaft of a clamping motor 23.
  • a system of tensioners by rollers 24 is provided which makes it possible to constrain each rack 22 on the pinion 21.
  • the arms 4 are associated with the racks 22 thanks to the bent plates 12 mentioned above, on which are assembled the bent ends 43 and 45 of the first and second elongated U-shaped parts and the sleeves 9 and 11.
  • clamping rings 47 are provided (see figure 8 ).
  • the device can grab a pot, release it, take it to the ground and load it into the magazine 5 located above the frame 1, behind the recessed space 7 of the device.
  • the example also shows that the device can be equipped with protective bellows 15 which are fitted around the shafts 8 and 10.
  • the protective bellows 15 are sleeves in the shape of an accordion, made for example of flexible rubber. They compress axially to follow the arm when tightening or loosening the pots.
  • the protective bellows 15 protect the tubular shaft and the splined shaft from dust and moisture.
  • the store 5 can receive several pots: indeed, the space dedicated to the storage of the pots is larger on the device than the spaces dedicated to the storage of the pots in the known solutions , because it is located above the chassis instead of being provided in the chassis.
  • Tray 5 can accommodate 3 to 6 jars in the examples shown. It should however be understood that the invention is not limited to a number of stored pots of between 3 and 6.
  • the magazine comprises a round plate 51, 52 or 53 in which at least one radial notch 50 has been formed.
  • the magazines respectively comprise five, three or six radial notches.
  • tray 51 can store up to five 4 L pots.
  • tray 52 can store up to three 10 L pots.
  • the tray can store up to six 3 L pots.
  • the notches are evenly distributed around the axis of the plate.
  • the round plate 51, 52 or 53 is rotatably mounted around its axis. To do this, the plate 51, 52 or 53 is removably fixed to a plate 54 (see figure 10 ) by means of screws and nuts symbolized by the reference 55 and the plate 54 is fixed to a transmission shaft 56 of a motor 57.
  • the user can choose the size of pots to be stored in the store and their number by changing the store as desired.
  • the device is equipped with an at least partially annular guardrail 58: the guardrail 58 surrounds the plate 51, 52 or 53 except on a portion located in front of the frame 1 of the device, above the recessed space 7 in which the arms 4 move. In this way, the guardrail 58 does not interfere with the arms when they lift a pot 60 to insert it into a notch 50.
  • the rotation of the magazine thus works in concert with the movement of the arms: the magazine is driven in rotation to present an empty notch above the recessed space 7 during the loading of the device.
  • the magazine has a notch with pot above the recessed space 7 so that the arms 4 come to grab the pot 60, release it and rest it on the ground.
  • guardrail 58 defines a physical boundary around the magazine shelf so that, in the event of a crash or rough terrain, the pots 60 are held in the notches.
  • the guardrail also protects the turntable when empty.
  • the user chooses the size of the pots to be moved from one place to another and sets the appropriate tray in the store.
  • This one will move in a predetermined geographical zone and, for each pot which it will cross, it will detect if the pot is in conformity or not with the information which it received.
  • the arms 4 will grab the pot laterally and hoist it into a notch 50 of the magazine tray. After which, the store will be rotated to place an empty notch 50 above the recessed space 7.
  • the device according to the invention will move to the place of deposit which will have been indicated: the arms 4 will grab one by one the pots stored in the store 5 to deposit them one by one on the ground, the next to each other, for example, until the store is empty.
  • the shape of the pots and the notches could be different without departing from the scope of the invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Handcart (AREA)
  • Cultivation Receptacles Or Flower-Pots, Or Pots For Seedlings (AREA)

Claims (9)

  1. Vorrichtung zum Bewegen von Objekten, die sich auf dem Boden befinden, insbesondere von Töpfen (60), die Pflanzen enthalten können, wobei die Vorrichtung aufweist:
    - Greifarme (4) zum Greifen eines Objekts (60), die zwischen einer angenäherten Position zum seitlichen Greifen des Objekts (60) und einer beabstandeten Position zum Loslassen des Objekts (60) bewegbar sind,
    - eine Aufnahme (5), in welcher der gegriffene Topf (60) aufbewahrt wird,
    - Rollen (2) zum Sicherstellen der Bewegung der Vorrichtung;
    - ein Detektionsmodul (3), das insbesondere die Detektion eines zu greifenden Topfes (60) auf dem Boden sicherstellt,
    wobei die Greifarme (4) entlang einer im Wesentlichen horizontalen Hauptwelle (8) zwischen der angenäherten Position und der beabstandeten Position beweglich montiert sind, und wobei die Hauptwelle (8) ferner um ihre Achse drehbar montiert ist, um eine Schwenkbewegung der Greifarme (4) zwischen einer ersten Position zum Greifen des Objekts (60) am Boden und einer zweiten Position zum Ablegen des Objekts (60) in der Aufnahme (5) zu ermöglichen, wobei die Hauptwelle (8) und die Greifarme (4) drehfest montiert sind, wobei die Aufnahme (5) eine runde Platte (51, 52, 53) aufweist, die um ihre Achse drehbar montiert ist, dadurch gekennzeichnet, dass die Platte (51, 52, 53) mindestens zwei radiale Aussparungen aufweist.
  2. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass die Hauptwelle (8) kanneliert ist, und dass jeder der Greifarme (4) eine Manschette (9) mit einer kannelierten Innenform aufweist, die komplementär zu derjenigen der kannelierten Hauptwelle (8) ist.
  3. Vorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass jeder der Greifarme (4) ein Pantographensystem (40) aufweist, das ein erstes Teil aufweist, das mit jedem seiner Endpunkte verschweißt ist, im Wesentlichen in einer U-Form, und ein zweites Teil aufweist, das mit jedem seiner Endpunkte verschweißt ist, im Wesentlichen in einer U-Form, dass das erste und das zweite verschweißte Teil derart ausgerichtet sind, dass sie die Konturen eines Polygons definieren, dass ein verschweißtes Ende (43) des ersten Teils um die Achse der Hauptwelle (8) schwenkbar montiert ist, und dass das andere verschweißte Ende (42) des ersten Teils zum Greifen eines Objekts schwenkbar auf einem Element (14) montiert ist.
  4. Vorrichtung nach Anspruch 3, dadurch gekennzeichnet, dass sie eine zweite rohrförmige Welle (10) aufweist, dass ein verschweißtes Ende (45) des zweiten Teils um die Achse der zweiten rohrförmigen Welle (10) schwenkbar montiert ist, und dass das andere verschweißte Ende (46) des zweiten Teils zum Greifen eines Objekts schwenkbar auf dem Element (14) montiert ist.
  5. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass die Hauptwelle (8) und die zweite rohrförmige Welle (10) jeweils von mindestens einem Schutzbalg (15) umgeben sind.
  6. Vorrichtung nach einem der vorstehenden Ansprüche, dadurch gekennzeichnet, dass sie ein System (20) mit einem Zahnrad (21) und einer Doppelzahnstange (22) aufweist, das mit den Greifarmen (4) mittels abgewinkelter Platten (12) verbunden ist, um die Greifarme (4) auf der Hauptwelle (8) von ihrer angenäherten Position in ihre beabstandete Position und umgekehrt zu bewegen.
  7. Vorrichtung nach Anspruch 6, dadurch gekennzeichnet, dass die abgewinkelten Platten (12) an abgewinkelten Enden (43, 45) der Greifarme (4) mittels zwei Klemmringen (47) derart befestigt sind, dass jede abgewinkelte Platte (12) zwischen zwei abgewinkelten Enden (43, 45) der Greifarme (4) und zwei Klemmringen (47) eingeklemmt ist, und dass für jeden Greifarm (4) zwei Axialrollenlager (18) zum einen jeweils zwischen einem abgewinkelten Ende (43, 45) der Greifarme (4) und einer abgewinkelten Platte (12) und zum anderen einer abgewinkelten Platte (12) und einem Klemmring (47) komprimiert sind.
  8. Vorrichtung nach Anspruch 6, dadurch gekennzeichnet, dass die Aufnahme (5) ferner ein zumindest teilweise ringförmiges Schutzgeländer (58) aufweist, das die runde Platte (51, 52, 53) umgibt, wobei das Schutzgeländer (58) einen abgestumpften Teil aufweist, der über den Greifarmen (4) der Vorrichtung positioniert ist, um die Schwenkbewegung der Greifarme (4) zu ermöglichen.
  9. Vorrichtung nach Anspruch 1 oder 8, dadurch gekennzeichnet, dass die Platte (51, 52, 53) abnehmbar ist und mindestens drei radiale Aussparungen aufweist, die gleichmäßig um die Achse der Platte verteilt sind.
EP21185970.7A 2019-07-09 2020-07-02 Vorrichtung zum bewegen von objekten Active EP3919234B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1907648A FR3098431B1 (fr) 2019-07-09 2019-07-09 Dispositif pour deplacer des objets
EP20183716.8A EP3763489A1 (de) 2019-07-09 2020-07-02 Vorrichtung zum bewegen von objekten

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
EP20183716.8A Division EP3763489A1 (de) 2019-07-09 2020-07-02 Vorrichtung zum bewegen von objekten

Publications (2)

Publication Number Publication Date
EP3919234A1 EP3919234A1 (de) 2021-12-08
EP3919234B1 true EP3919234B1 (de) 2022-12-14

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EP20183716.8A Pending EP3763489A1 (de) 2019-07-09 2020-07-02 Vorrichtung zum bewegen von objekten
EP21185970.7A Active EP3919234B1 (de) 2019-07-09 2020-07-02 Vorrichtung zum bewegen von objekten

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EP20183716.8A Pending EP3763489A1 (de) 2019-07-09 2020-07-02 Vorrichtung zum bewegen von objekten

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EP (2) EP3763489A1 (de)
FR (1) FR3098431B1 (de)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114084600B (zh) * 2021-10-29 2024-01-02 尔智机器人(珠海)有限公司 一种顶端置物台及具有其的移动机器人小车
CN114655692A (zh) * 2022-03-31 2022-06-24 麻城市三川石材有限公司 一种石块转运装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2014201013A1 (en) 2013-06-10 2014-12-18 Harvest Automation, Inc. Gripper assembly for autonomous mobile robots
CA3107180C (en) * 2016-09-06 2022-10-04 Advanced Intelligent Systems Inc. Mobile work station for transporting a plurality of articles

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Publication number Publication date
FR3098431B1 (fr) 2021-07-23
FR3098431A1 (fr) 2021-01-15
EP3919234A1 (de) 2021-12-08
EP3763489A1 (de) 2021-01-13

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